OpenRaiser/Intern-Atlas huggingface dataset:
MedMerge: Merging Models for Effective Transfer Learning to Medical Imaging Tasks
Venue: arXiv cs.CV 2025
Year: 2025

Transfer learning has become a powerful tool to initialize deep learning models to achieve faster convergence and higher performance. This is especially useful in the medical imaging analysis domain, where data scarcity limits possible performance gains for deep learning models. Some advancements have been made in boosting the transfer learning performance gain by merging models starting from the same initialization. However, in the medical imaging analysis domain, there is an opportunity to merge models starting from different initializations, thus combining the features learned from different tasks. In this work, we propose MedMerge, a method whereby the weights of different models can be merged, and their features can be effectively utilized to boost performance on a new task. With MedMerge, we learn kernel-level weights that can later be used to merge the models into a single model, even when starting from different initializations. Testing on various medical imaging analysis tasks, we show that our merged model can achieve significant performance gains, with up to 7% improvement on the F1 score. The code implementation of this work is available at github.com/BioMedIA-MBZUAI/MedMerge.
A Survey on Quality Metrics for Text-to-Image Generation
Venue: arXiv cs.CV 2025
Year: 2025

AI-based text-to-image models do not only excel at generating realistic images, they also give designers more and more fine-grained control over the image content. Consequently, these approaches have gathered increased attention within the computer graphics research community, which has been historically devoted towards traditional rendering techniques, that offer precise control over scene parameters (e.g., objects, materials, and lighting). While the quality of conventionally rendered images is assessed through well established image quality metrics, such as SSIM or PSNR, the unique challenges of text-to-image generation require other, dedicated quality metrics. These metrics must be able to not only measure overall image quality, but also how well images reflect given text prompts, whereby the control of scene and rendering parameters is interweaved. Within this survey, we provide a comprehensive overview of such text-to-image quality metrics, and propose a taxonomy to categorize these metrics. Our taxonomy is grounded in the assumption, that there are two main quality criteria, namely compositional quality and general quality, that contribute to the overall image quality. Besides the metrics, this survey covers dedicated text-to-image benchmark datasets, over which the metrics are frequently computed. Finally, we identify limitations and open challenges in the field of text-to-image generation, and derive guidelines for practitioners conducting text-to-image evaluation.
Align and Distill: Unifying and Improving Domain Adaptive Object Detection
Venue: arXiv cs.CV 2025
Year: 2025

Object detectors often perform poorly on data that differs from their training set. Domain adaptive object detection (DAOD) methods have recently demonstrated strong results on addressing this challenge. Unfortunately, we identify systemic benchmarking pitfalls that call past results into question and hamper further progress: (a) Overestimation of performance due to underpowered baselines, (b) Inconsistent implementation practices preventing transparent comparisons of methods, and (c) Lack of generality due to outdated backbones and lack of diversity in benchmarks. We address these problems by introducing: (1) A unified benchmarking and implementation framework, Align and Distill (ALDI), enabling comparison of DAOD methods and supporting future development, (2) A fair and modern training and evaluation protocol for DAOD that addresses benchmarking pitfalls, (3) A new DAOD benchmark dataset, CFC-DAOD, enabling evaluation on diverse real-world data, and (4) A new method, ALDI++, that achieves state-of-the-art results by a large margin. ALDI++ outperforms the previous state-of-the-art by +3.5 AP50 on Cityscapes to Foggy Cityscapes, +5.7 AP50 on Sim10k to Cityscapes (where ours is the only method to outperform a fair baseline), and +0.6 AP50 on CFC Kenai to Channel. ALDI and ALDI++ are architecture-agnostic, setting a new state-of-the-art for YOLO and DETR-based DAOD as well without additional hyperparameter tuning. Our framework, dataset, and state-of-the-art method offer a critical reset for DAOD and provide a strong foundation for future research. Code and data are available: https://github.com/justinkay/aldi and https://github.com/visipedia/caltech-fish-counting.
Towards a Wireless Physical-Layer Foundation Model: Challenges and Strategies
Venue: arXiv cs.NI 2025
Year: 2025

Artificial intelligence (AI) plays an important role in the dynamic landscape of wireless communications, solving challenges unattainable by traditional approaches. This paper discusses the evolution of wireless AI, emphasizing the transition from isolated task-specific models to more generalizable and adaptable AI models inspired by recent successes in large language models (LLMs) and computer vision. To overcome task-specific AI strategies in wireless networks, we propose a unified wireless physical-layer foundation model (WPFM). Challenges include the design of effective pre-training tasks, support for embedding heterogeneous time series and human-understandable interaction. The paper presents a strategic framework, focusing on embedding wireless time series, self-supervised pre-training, and semantic representation learning. The proposed WPFM aims to understand and describe diverse wireless signals, allowing human interactivity with wireless networks. The paper concludes by outlining next research steps for WPFMs, including the integration with LLMs.
Safety Implications of Explainable Artificial Intelligence in End-to-End Autonomous Driving
Venue: arXiv cs.RO 2025
Year: 2025

The end-to-end learning pipeline is gradually creating a paradigm shift in the ongoing development of highly autonomous vehicles (AVs), largely due to advances in deep learning, the availability of large-scale training datasets, and improvements in integrated sensor devices. However, a lack of explainability in real-time decisions with contemporary learning methods impedes user trust and attenuates the widespread deployment and commercialization of such vehicles. Moreover, the issue is exacerbated when these vehicles are involved in or cause traffic accidents. Consequently, explainability in end-to-end autonomous driving is essential to build trust in vehicular automation. With that said, automotive researchers have not yet rigorously explored safety benefits and consequences of explanations in end-to-end autonomous driving. This paper aims to bridge the gaps between these topics and seeks to answer the following research question: What are safety implications of explanations in end-to-end autonomous driving? In this regard, we first revisit established safety and explainability concepts in end-to-end driving. Furthermore, we present critical case studies and show the pivotal role of explanations in enhancing driving safety. Finally, we describe insights from empirical studies and reveal potential value, limitations, and caveats of practical explainable AI methods with respect to their potential impacts on safety of end-to-end driving.
Structural Validation Of Synthetic Power Distribution Networks Using The Multiscale Flat Norm
Venue: arXiv cs.CG 2025
Year: 2025

We study the problem of comparing a pair of geometric networks that may not be similarly defined, i.e., when they do not have one-to-one correspondences between their nodes and edges. Our motivating application is to compare power distribution networks of a region. Due to the lack of openly available power network datasets, researchers synthesize realistic networks resembling their actual counterparts. But the synthetic digital twins may vary significantly from one another and from actual networks due to varying underlying assumptions and approaches. Hence the user wants to evaluate the quality of networks in terms of their structural similarity to actual power networks. But the lack of correspondence between the networks renders most standard approaches, e.g., subgraph isomorphism and edit distance, unsuitable. We propose an approach based on the multiscale flat norm, a notion of distance between objects defined in the field of geometric measure theory, to compute the distance between a pair of planar geometric networks. Using a triangulation of the domain containing the input networks, the flat norm distance between two networks at a given scale can be computed by solving a linear program. In addition, this computation automatically identifies the 2D regions (patches) that capture where the two networks are different. We demonstrate through 2D examples that the flat norm distance can capture the variations of inputs more accurately than the commonly used Hausdorff distance. As a notion of stability, we also derive upper bounds on the flat norm distance between a simple 1D curve and its perturbed version as a function of the radius of perturbation for a restricted class of perturbations. We demonstrate our approach on a set of actual power networks from a county in the USA.
Contextualized Messages Boost Graph Representations
Venue: arXiv cs.LG 2025
Year: 2025

Graph neural networks (GNNs) have gained significant attention in recent years for their ability to process data that may be represented as graphs. This has prompted several studies to explore their representational capability based on the graph isomorphism task. Notably, these works inherently assume a countable node feature representation, potentially limiting their applicability. Interestingly, only a few study GNNs with uncountable node feature representation. In the paper, a new perspective on the representational capability of GNNs is investigated across all levels$\unicode{x2014}$node-level, neighborhood-level, and graph-level$\unicode{x2014}$when the space of node feature representation is uncountable. Specifically, the injective and metric requirements of previous works are softly relaxed by employing a pseudometric distance on the space of input to create a soft-injective function such that distinct inputs may produce similar outputs if and only if the pseudometric deems the inputs to be sufficiently similar on some representation. As a consequence, a simple and computationally efficient soft-isomorphic relational graph convolution network (SIR-GCN) that emphasizes the contextualized transformation of neighborhood feature representations via anisotropic and dynamic message functions is proposed. Furthermore, a mathematical discussion on the relationship between SIR-GCN and key GNNs in literature is laid out to put the contribution into context, establishing SIR-GCN as a generalization of classical GNN methodologies. To close, experiments on synthetic and benchmark datasets demonstrate the relative superiority of SIR-GCN, outperforming comparable models in node and graph property prediction tasks.
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
Venue: arXiv cs.RO 2025
Year: 2025

The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. However, creating such datasets is challenging: collecting robot manipulation data in diverse environments poses logistical and safety challenges and requires substantial investments in hardware and human labour. As a result, even the most general robot manipulation policies today are mostly trained on data collected in a small number of environments with limited scene and task diversity. In this work, we introduce DROID (Distributed Robot Interaction Dataset), a diverse robot manipulation dataset with 76k demonstration trajectories or 350 hours of interaction data, collected across 564 scenes and 84 tasks by 50 data collectors in North America, Asia, and Europe over the course of 12 months. We demonstrate that training with DROID leads to policies with higher performance and improved generalization ability. We open source the full dataset, policy learning code, and a detailed guide for reproducing our robot hardware setup.
A Novel Energy-Efficient Cross-Layer Design for Scheduling and Routing in 6TiSCH Networks
Venue: arXiv cs.NI 2025
Year: 2025

The 6TiSCH protocol stack plays a vital role in enabling reliable and energy-efficient communications for the Industrial Internet of Things (IIoT). However, it faces challenges, including prolonged network formation, inefficient parent switching, high control packet overhead, and suboptimal resource utilization. To tackle these issues, we propose in this paper a novel cross-layer optimization framework aiming to enhance the coordination between the Scheduling Function (SF), the Routing Protocol for Low-Power and Lossy Networks (RPL), and queue management. Our solution introduces a slot-aware parent switching mechanism, early slot reservation to mitigate queue overflow, and a refined slot locking strategy to improve slot availability. To reduce control overhead, the proposed method merges 6P cell reservation information into RPL control packets (DIO/DAO), thus minimizing control exchanges during parent switching and node joining. Optimized slot selection further reduces latency and jitter. Through extensive simulations on the 6TiSCH simulator and under varying network densities and traffic loads, we demonstrate significant improvements over the standard 6TiSCH benchmark in terms of traffic load, joining time, latency, and energy efficiency. These enhancements make the proposed solution suitable for time-sensitive IIoT applications.
Containerization in Multi-Cloud Environment: Roles, Strategies, Challenges, and Solutions for Effective Implementation
Venue: arXiv cs.DC 2025
Year: 2025

Containerization in multi-cloud environments has received significant attention in recent years both from academic research and industrial development perspectives. However, there exists no effort to systematically investigate the state of research on this topic. The aim of this research is to systematically identify and categorize the multiple aspects of containerization in multi-cloud environment. We conducted the Systematic Mapping Study (SMS) on the literature published between January 2013 and July 2024. One hundred twenty one studies were selected and the key results are: (1) Four leading themes on containerization in multi-cloud environment are identified: 'Scalability and High Availability', 'Performance and Optimization', 'Security and Privacy', and 'Multi-Cloud Container Monitoring and Adaptation'. (2) Ninety-eight patterns and strategies for containerization in multicloud environment were classified across 10 subcategories and 4 categories. (3) Ten quality attributes considered were identified with 47 associated tactics. (4) Four catalogs consisting of challenges and solutions related to security, automation, deployment, and monitoring were introduced. The results of this SMS will assist researchers and practitioners in pursuing further studies on containerization in multi-cloud environment and developing specialized solutions for containerization applications in multi-cloud environment.
AutoTRIZ: Automating Engineering Innovation with TRIZ and Large Language Models
Venue: arXiv cs.HC 2025
Year: 2025

Various ideation methods, such as morphological analysis and design-by-analogy, have been developed to aid creative problem-solving and innovation. Among them, the Theory of Inventive Problem Solving (TRIZ) stands out as one of the best-known methods. However, the complexity of TRIZ and its reliance on users' knowledge, experience, and reasoning capabilities limit its practicality. To address this, we introduce AutoTRIZ, an artificial ideation system that integrates Large Language Models (LLMs) to automate and enhance the TRIZ methodology. By leveraging LLMs' vast pre-trained knowledge and advanced reasoning capabilities, AutoTRIZ offers a novel, generative, and interpretable approach to engineering innovation. AutoTRIZ takes a problem statement from the user as its initial input, automatically conduct the TRIZ reasoning process and generates a structured solution report. We demonstrate and evaluate the effectiveness of AutoTRIZ through comparative experiments with textbook cases and a real-world application in the design of a Battery Thermal Management System (BTMS). Moreover, the proposed LLM-based framework holds the potential for extension to automate other knowledge-based ideation methods, such as SCAMPER, Design Heuristics, and Design-by-Analogy, paving the way for a new era of AI-driven innovation tools.
Specification Mining for Smart Contracts with Trace Slicing and Predicate Abstraction
Venue: arXiv cs.SE 2025
Year: 2025

Smart contracts are computer programs running on blockchains to implement Decentralized Applications. The absence of contract specifications hinders routine tasks, such as contract understanding and testing. In this work, we propose a specification mining approach to infer contract specifications from past transaction histories. Our approach derives high-level behavioral automata of function invocations, accompanied by program invariants statistically inferred from the transaction histories. We implemented our approach as tool SMCON and evaluated it on eleven well-studied Azure benchmark smart contracts and six popular real-world DApp smart contracts. The experiments show that SMCON mines reasonably accurate specifications that can be used to enhance symbolic analysis of smart contracts achieving higher code coverage and up to 56% speedup, and facilitate DApp developers in maintaining high-quality documentation and test suites.
Gr{ö}bner bases over polytopal affinoid algebras
Venue: arXiv cs.SC 2025
Year: 2025

Polyhedral affinoid algebras have been introduced by Einsiedler, Kapranov and Lind to connect rigid analytic geometry (analytic geometry over non-archimedean fields) and tropical geometry. In this article, we present a theory of Gr{ö}bner bases for polytopal affinoid algebras that extends both Caruso et al.'s theory of Gr{ö}bner bases on Tate algebras and Pauer et al.'s theory of Gr{ö}bner bases on Laurent polynomials. We provide effective algorithms to compute Gr{ö}bner bases for both ideals of Laurent polynomials and ideals in polytopal affinoid algebras. Experiments with a Sagemath implementation are provided.
Reward-Driven Automated Curriculum Learning for Interaction-Aware Self-Driving at Unsignalized Intersections
Venue: arXiv cs.RO 2025
Year: 2025

In this work, we present a reward-driven automated curriculum reinforcement learning approach for interaction-aware self-driving at unsignalized intersections, taking into account the uncertainties associated with surrounding vehicles (SVs). These uncertainties encompass the uncertainty of SVs' driving intention and also the quantity of SVs. To deal with this problem, the curriculum set is specifically designed to accommodate a progressively increasing number of SVs. By implementing an automated curriculum selection mechanism, the importance weights are rationally allocated across various curricula, thereby facilitating improved sample efficiency and training outcomes. Furthermore, the reward function is meticulously designed to guide the agent towards effective policy exploration. Thus the proposed framework could proactively address the above uncertainties at unsignalized intersections by employing the automated curriculum learning technique that progressively increases task difficulty, and this ensures safe self-driving through effective interaction with SVs. Comparative experiments are conducted in $Highway\_Env$, and the results indicate that our approach achieves the highest task success rate, attains strong robustness to initialization parameters of the curriculum selection module, and exhibits superior adaptability to diverse situational configurations at unsignalized intersections. Furthermore, the effectiveness of the proposed method is validated using the high-fidelity CARLA simulator.
Threats, Attacks, and Defenses in Machine Unlearning: A Survey
Venue: arXiv cs.CR 2025
Year: 2025

Machine Unlearning (MU) has recently gained considerable attention due to its potential to achieve Safe AI by removing the influence of specific data from trained Machine Learning (ML) models. This process, known as knowledge removal, addresses AI governance concerns of training data such as quality, sensitivity, copyright restrictions, and obsolescence. This capability is also crucial for ensuring compliance with privacy regulations such as the Right To Be Forgotten (RTBF). Furthermore, effective knowledge removal mitigates the risk of harmful outcomes, safeguarding against biases, misinformation, and unauthorized data exploitation, thereby enhancing the safe and responsible use of AI systems. Efforts have been made to design efficient unlearning approaches, with MU services being examined for integration with existing machine learning as a service (MLaaS), allowing users to submit requests to remove specific data from the training corpus. However, recent research highlights vulnerabilities in machine unlearning systems, such as information leakage and malicious unlearning, that can lead to significant security and privacy concerns. Moreover, extensive research indicates that unlearning methods and prevalent attacks fulfill diverse roles within MU systems. This underscores the intricate relationship and complex interplay among these mechanisms in maintaining system functionality and safety. This survey aims to fill the gap between the extensive number of studies on threats, attacks, and defenses in machine unlearning and the absence of a comprehensive review that categorizes their taxonomy, methods, and solutions, thus offering valuable insights for future research directions and practical implementations.
Genetic Programming for Explainable Manifold Learning
Venue: arXiv cs.NE 2025
Year: 2025

Manifold learning techniques play a pivotal role in machine learning by revealing lower-dimensional embeddings within high-dimensional data, thus enhancing both the efficiency and interpretability of data analysis by transforming the data into a lower-dimensional representation. However, a notable challenge with current manifold learning methods is their lack of explicit functional mappings, crucial for explainability in many real-world applications. Genetic programming, known for its interpretable functional tree-based models, has emerged as a promising approach to address this challenge. Previous research leveraged multi-objective GP to balance manifold quality against embedding dimensionality, producing functional mappings across a range of embedding sizes. Yet, these mapping trees often became complex, hindering explainability. In response, in this paper, we introduce Genetic Programming for Explainable Manifold Learning (GP-EMaL), a novel approach that directly penalises tree complexity. Our new method is able to maintain high manifold quality while significantly enhancing explainability and also allows customisation of complexity measures, such as symmetry balancing, scaling, and node complexity, catering to diverse application needs. Our experimental analysis demonstrates that GP-EMaL is able to match the performance of the existing approach in most cases, while using simpler, smaller, and more interpretable tree structures. This advancement marks a significant step towards achieving interpretable manifold learning.